[Backport release/3.0.0] Wrench frame selection and schema migrations (#7536, #7971)

[ooctipus]

Description

Backports two merged changes to release/3.0.0:

• Move external wrench frame selection into WrenchComposer #7536 — Move external wrench frame selection into WrenchComposer (726f045a7dd2052311bf64099b096391468f0292). Avoid unnecessary pose reads and composition for local wrenches and supported world-frame wrenches at the center of mass; preserve current-pose composition for mixed or positioned global forces. Includes the PhysX, Newton, and OvPhysX writers and regression tests.
• Migrate remaining legacy schema cfg call sites to fragments #7971 — Migrate remaining legacy schema configuration call sites to fragments (1370bb6f7ce1ab57b8939dd9e9b8bfde6f425000). Updates tutorials, demos, conversion tools, benchmarks, task configurations, and test fixtures while retaining the original migration's exclusions.

Both backports apply unchanged, with no conflicts. All source changelog fragments are included.

Validation

• Move external wrench frame selection into WrenchComposer #7536: 375 composer tests and 24 backend writer tests passed before adding Migrate remaining legacy schema cfg call sites to fragments #7971.
• Migrate remaining legacy schema cfg call sites to fragments #7971: 9 schema parity tests, 14 schema fragment tests, and the OvPhysX gravity integration test passed on the combined branch.
• All 38 Python files changed by Migrate remaining legacy schema cfg call sites to fragments #7971 compile; the migrated NIST, UR10 particle-push, and reach task configurations import and instantiate successfully.
• uv run --no-sync isaaclab -f and git diff --check passed on the combined branch.
• Full Docker/GPU CI requested for the updated head.

[greptile-apps]

Confidence Score: 5/5

The PR appears safe to merge; the frame-selection optimization preserves the existing physical wrench semantics across PhysX, Newton, and OVPhysX.

Summary

This backport moves external-wrench frame selection into WrenchComposer and lets each backend avoid unnecessary body-pose composition while preserving its native wrench contract.

• Adds local-frame and world-at-center-of-mass fast paths with conservative state tracking across partial resets and composer merges.
• Updates PhysX writers to forward the selected frame directly.
• Updates OVPhysX packing kernels to skip redundant rotation for world-frame inputs.
• Keeps Newton on body-frame inputs while avoiding pose reads for already-local wrenches.
• Expands cross-backend regression coverage for frame selection, body ordering, resets, and rotated poses.

Diagram

%%{init: {'theme': 'neutral'}}%%
flowchart TD
    A[Buffered external-wrench contributions] --> B[WrenchComposer]
    B --> C{Eligible representation}
    C -->|All local| D[Body-frame wrench]
    C -->|All world at CoM and supported| E[World-frame wrench]
    C -->|Mixed or positioned world force| F[Compose using current body pose]
    F --> D
    D --> G[Newton body-to-world packing]
    D --> H[PhysX submission]
    D --> I[OVPhysX world packing]
    E --> H
    E --> I

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_{Reviews (1) · Last reviewed commit: "Move external wrench frame selection int..."}

[isaaclab-review-bot]

Isaac Lab Review Bot

Reviewed the backport’s central frame-selection change, including WrenchComposer eligibility tracking and the PhysX, Newton, and OvPhysX producer/consumer paths. No candidate finding identified a concrete defect requiring maintainer action.

• Design and architecture: The frame decision is centralized in WrenchComposer through boolean contribution state. Backend writers consume the selected frame rather than independently classifying wrench contents; partial resets conservatively retain eligibility flags, which can forgo an optimization but preserves composition correctness.
• API: The additive get_forces_and_torques() API returns force, torque, and is_global while supports_world_at_com remains keyword-only and defaults to the prior body-frame behavior. Existing body-frame output properties remain available, private kernel signature changes are reflected in the shown consumers, and changelog fragments cover the touched source packages.
• Implementation: The world-at-CoM path, local-frame path, mixed/positioned fallback, body-order remapping, and backend packing paths were traced. PhysX forwards the selected frame, OvPhysX conditionally rotates before packing, and Newton continues consuming body-frame values. Conservative state after partial or full-coverage indexed resets may cause extra pose reads until a full reset, but the documented behavior does not change wrench results.

No blocking issues. No inline issue met the actionable-evidence threshold; the assessment above records the review feedback.

Automated review; human maintainers own approval decisions.